On-line Mobile Robot Path Tracking Using PI Controller

This paper presents a method for the path tracking problem of a mobile robot using a PI controller. The proposed method inserts an ideal relay in parallel to a conventional PI controller to identify an equivalent FOPDT model for the kinematics of the mobile robot. The parallel connection of the ideal relay to the PI controller helps in designing a robust PI controller in presence of static load disturbances. Based on the identified model, the PI controller is retuned to achieve good performance without disrupting the closed loop control. The performance of the proposed method is discussed through the simulation result to verify the effectiveness of the proposed method